=== Avatar Training (fire-and-forget) === Script: train_pi0fast.py Started: 2026-03-11 06:28:57 UTC >>> [0/4] Raising file descriptor limit... ulimit -n = 65536 >>> [1/4] Setting environment... HF_TOKEN set: 37 chars WANDB_API_KEY set: 0 chars >>> [2/4] Logging into HuggingFace... The token has not been saved to the git credentials helper. Pass `add_to_git_credential=True` in this function directly or `--add-to-git-credential` if using via `hf`CLI if you want to set the git credential as well. Token is valid (permission: write). The token `beta-pc` has been saved to /root/.cache/huggingface/stored_tokens Your token has been saved to /root/.cache/huggingface/token Login successful. Note: Environment variable`HF_TOKEN` is set and is the current active token independently from the token you've just configured. ⚠️ Warning: 'huggingface-cli login' is deprecated. Use 'hf auth login' instead. >>> [3/4] Pre-downloading pretrained model... Downloading lerobot/pi0fast-base (default)... Fetching 6 files: 0%| | 0/6 [00:00>> [4/4] Launching accelerate with 4 GPUs... Script: train_pi0fast.py Train args: --dataset orange_hook_right_20260310 --steps 10000 --batch-size 8 --lr 5e-5 --save-freq 2000 --push-to-hub --num-workers 8 --task-text pick\ up\ the\ orange\ flat\ package The following values were not passed to `accelerate launch` and had defaults used instead: `--num_machines` was set to a value of `1` `--mixed_precision` was set to a value of `'no'` `--dynamo_backend` was set to a value of `'no'` To avoid this warning pass in values for each of the problematic parameters or run `accelerate config`. ============================================================ π₀-FAST Training ============================================================ Dataset: hamidavatar/orange_hook_right_20260310 Pretrained: lerobot/pi0fast-base Model repo: hamidavatar/pi0fast-orange-hook-right-b32-20260311-0629 Steps: 10000 Batch/GPU: 8 (eff: 32) Chunk size: 10 LR: 5e-05 Save freq: 2000 GPUs: 4 ============================================================ lerobot_train \ --dataset.repo_id=hamidavatar/orange_hook_right_20260310 \ --policy.type=pi0_fast \ --policy.pretrained_path=lerobot/pi0fast-base \ --policy.repo_id=hamidavatar/pi0fast-orange-hook-right-b32-20260311-0629 \ --policy.dtype=bfloat16 \ --policy.gradient_checkpointing=true \ --policy.chunk_size=10 \ --policy.n_action_steps=10 \ --policy.max_action_tokens=256 \ --policy.optimizer_lr=5e-05 \ --policy.optimizer_weight_decay=0.01 \ --policy.scheduler_warmup_steps=1000 \ --policy.scheduler_decay_steps=10000 \ --policy.scheduler_decay_lr=1e-6 \ --batch_size=8 \ --steps=10000 \ --save_freq=2000 \ --log_freq=100 \ --save_checkpoint=true \ --seed=1000 \ --num_workers=8 \ --output_dir=outputs/train/pi0fast \ --dataset.tolerance_s=2.0 \ --policy.push_to_hub=true \ --policy.private=true \ [Avatar] cudnn.benchmark=True, tf32=True [Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0629 (with per-step tags) [Avatar] Dataset task text patched → "pick up the orange flat package" [Avatar] Installed corrupt-frame retry handler [Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0629 (with per-step tags) [Avatar] Dataset task text patched → "pick up the orange flat package" [Avatar] Installed corrupt-frame retry handler [Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0629 (with per-step tags) [Avatar] Dataset task text patched → "pick up the orange flat package" [Avatar] Installed corrupt-frame retry handler [Avatar] Checkpoint push enabled → hamidavatar/pi0fast-orange-hook-right-b32-20260311-0629 (with per-step tags) [Avatar] Dataset task text patched → "pick up the orange flat package" [Avatar] Installed corrupt-frame retry handler usage: lerobot_train [-h] [--config_path str] [--dataset str] [--dataset.repo_id str] [--dataset.root str] [--dataset.episodes str] [--image_transforms str] [--dataset.image_transforms.enable str] [--dataset.image_transforms.max_num_transforms str] [--dataset.image_transforms.random_order str] [--dataset.image_transforms.tfs str] [--dataset.revision str] [--dataset.use_imagenet_stats str] [--dataset.video_backend str] [--dataset.streaming str] [--env str] [--env.type {aloha,pusht,gym_manipulator,libero,metaworld,isaaclab_arena}] [--env.visualization_width str] [--env.visualization_height str] [--robot str] [--env.robot.type str] [--teleop str] [--env.teleop.type str] [--processor str] [--env.processor.control_mode str] [--observation str] [--env.processor.observation.add_joint_velocity_to_observation str] [--env.processor.observation.add_current_to_observation str] [--env.processor.observation.add_ee_pose_to_observation str] [--env.processor.observation.display_cameras str] [--image_preprocessing str] [--env.processor.image_preprocessing.crop_params_dict str] [--env.processor.image_preprocessing.resize_size str] [--gripper str] [--env.processor.gripper.use_gripper str] [--env.processor.gripper.gripper_penalty str] [--reset str] [--env.processor.reset.fixed_reset_joint_positions str] [--env.processor.reset.reset_time_s str] [--env.processor.reset.control_time_s str] [--env.processor.reset.terminate_on_success str] [--inverse_kinematics str] [--env.processor.inverse_kinematics.urdf_path str] [--env.processor.inverse_kinematics.target_frame_name str] [--env.processor.inverse_kinematics.end_effector_bounds str] [--env.processor.inverse_kinematics.end_effector_step_sizes str] [--reward_classifier str] [--env.processor.reward_classifier.pretrained_path str] [--env.processor.reward_classifier.success_threshold str] [--env.processor.reward_classifier.success_reward str] [--env.processor.max_gripper_pos str] [--env.name str] [--env.task_ids str] [--env.camera_name str] [--env.init_states str] [--env.camera_name_mapping str] [--env.observation_height str] [--env.observation_width str] [--env.control_mode str] [--env.obs_type str] [--env.render_mode str] [--env.multitask_eval str] [--env.task str] [--env.fps str] [--env.features str] [--env.features_map str] [--env.max_parallel_tasks str] [--env.disable_env_checker str] [--env.hub_path str] [--env.episode_length str] [--env.num_envs str] [--env.embodiment str] [--env.object str] [--env.mimic str] [--env.teleop_device str] [--env.seed str] [--env.device str] [--env.disable_fabric str] [--env.enable_cameras str] [--env.headless str] [--env.enable_pinocchio str] [--env.environment str] [--env.state_dim str] [--env.action_dim str] [--env.camera_height str] [--env.camera_width str] [--env.video str] [--env.video_length str] [--env.video_interval str] [--env.state_keys str] [--env.camera_keys str] [--env.kwargs str] [--policy str] [--policy.type {act,diffusion,groot,pi0,pi0_fast,pi05,smolvla,tdmpc,vqbet,wall_x,xvla,sac,reward_classifier,sarm}] [--policy.replace_final_stride_with_dilation str] [--policy.pre_norm str] [--policy.dim_model str] [--policy.n_heads str] [--policy.dim_feedforward str] [--policy.feedforward_activation str] [--policy.n_encoder_layers str] [--policy.n_decoder_layers str] [--policy.use_vae str] [--policy.n_vae_encoder_layers str] [--policy.temporal_ensemble_coeff str] [--policy.kl_weight str] [--policy.optimizer_lr_backbone str] [--policy.resize_shape str] [--policy.crop_ratio str] [--policy.use_separate_rgb_encoder_per_camera str] [--policy.down_dims str] [--policy.kernel_size str] [--policy.n_groups str] [--policy.diffusion_step_embed_dim str] [--policy.use_film_scale_modulation str] [--policy.noise_scheduler_type str] [--policy.num_train_timesteps str] [--policy.beta_schedule str] [--policy.beta_start str] [--policy.beta_end str] [--policy.prediction_type str] [--policy.clip_sample str] [--policy.clip_sample_range str] [--policy.do_mask_loss_for_padding str] [--policy.scheduler_name str] [--policy.image_size str] [--policy.base_model_path str] [--policy.tokenizer_assets_repo str] [--policy.embodiment_tag str] [--policy.tune_llm str] [--policy.tune_visual str] [--policy.tune_projector str] [--policy.tune_diffusion_model str] [--policy.lora_rank str] [--policy.lora_alpha str] [--policy.lora_dropout str] [--policy.lora_full_model str] [--policy.warmup_ratio str] [--policy.use_bf16 str] [--policy.video_backend str] [--policy.balance_dataset_weights str] [--policy.balance_trajectory_weights str] [--policy.dataset_paths str] [--policy.output_dir str] [--policy.save_steps str] [--policy.max_steps str] [--policy.dataloader_num_workers str] [--policy.report_to str] [--policy.resume str] [--policy.max_action_tokens str] [--policy.text_tokenizer_name str] [--policy.action_tokenizer_name str] [--policy.temperature str] [--policy.max_decoding_steps str] [--policy.fast_skip_tokens str] [--policy.validate_action_token_prefix str] [--policy.use_kv_cache str] [--policy.paligemma_variant str] [--policy.action_expert_variant str] [--policy.num_inference_steps str] [--policy.time_sampling_beta_alpha str] [--policy.time_sampling_beta_beta str] [--policy.time_sampling_scale str] [--policy.time_sampling_offset str] [--policy.image_resolution str] [--policy.gradient_checkpointing str] [--policy.adapt_to_pi_aloha str] [--policy.use_delta_joint_actions_aloha str] [--policy.num_steps str] [--policy.use_cache str] [--policy.train_expert_only str] [--policy.train_state_proj str] [--policy.vlm_model_name str] [--policy.load_vlm_weights str] [--policy.add_image_special_tokens str] [--policy.attention_mode str] [--policy.prefix_length str] [--policy.num_expert_layers str] [--policy.num_vlm_layers str] [--policy.self_attn_every_n_layers str] [--policy.expert_width_multiplier str] [--policy.min_period str] [--policy.max_period str] [--rtc_config str] [--policy.rtc_config.enabled str] [--policy.rtc_config.prefix_attention_schedule str] [--policy.rtc_config.max_guidance_weight str] [--policy.rtc_config.execution_horizon str] [--policy.rtc_config.debug str] [--policy.rtc_config.debug_maxlen str] [--policy.compile_model str] [--policy.compile_mode str] [--policy.n_action_repeats str] [--policy.horizon str] [--policy.q_ensemble_size str] [--policy.mlp_dim str] [--policy.use_mpc str] [--policy.cem_iterations str] [--policy.max_std str] [--policy.min_std str] [--policy.n_gaussian_samples str] [--policy.n_pi_samples str] [--policy.uncertainty_regularizer_coeff str] [--policy.n_elites str] [--policy.elite_weighting_temperature str] [--policy.gaussian_mean_momentum str] [--policy.max_random_shift_ratio str] [--policy.reward_coeff str] [--policy.expectile_weight str] [--policy.value_coeff str] [--policy.consistency_coeff str] [--policy.advantage_scaling str] [--policy.pi_coeff str] [--policy.temporal_decay_coeff str] [--policy.target_model_momentum str] [--policy.n_action_pred_token str] [--policy.action_chunk_size str] [--policy.vision_backbone str] [--policy.crop_shape str] [--policy.crop_is_random str] [--policy.pretrained_backbone_weights str] [--policy.use_group_norm str] [--policy.spatial_softmax_num_keypoints str] [--policy.n_vqvae_training_steps str] [--policy.vqvae_n_embed str] [--policy.vqvae_embedding_dim str] [--policy.vqvae_enc_hidden_dim str] [--policy.gpt_block_size str] [--policy.gpt_input_dim str] [--policy.gpt_output_dim str] [--policy.gpt_n_layer str] [--policy.gpt_n_head str] [--policy.gpt_hidden_dim str] [--policy.offset_loss_weight str] [--policy.primary_code_loss_weight str] [--policy.secondary_code_loss_weight str] [--policy.bet_softmax_temperature str] [--policy.sequentially_select str] [--policy.optimizer_vqvae_lr str] [--policy.optimizer_vqvae_weight_decay str] [--policy.pretrained_name_or_path str] [--policy.action_tokenizer_path str] [--policy.prediction_mode str] [--policy.attn_implementation str] [--policy.chunk_size str] [--policy.n_action_steps str] [--policy.dtype str] [--policy.florence_config str] [--policy.tokenizer_name str] [--policy.tokenizer_max_length str] [--policy.tokenizer_padding_side str] [--policy.pad_language_to str] [--policy.hidden_size str] [--policy.depth str] [--policy.mlp_ratio str] [--policy.num_domains str] [--policy.len_soft_prompts str] [--policy.dim_time str] [--policy.max_len_seq str] [--policy.use_hetero_proj str] [--policy.action_mode str] [--policy.num_denoising_steps str] [--policy.use_proprio str] [--policy.max_action_dim str] [--policy.domain_feature_key str] [--policy.resize_imgs_with_padding str] [--policy.num_image_views str] [--policy.empty_cameras str] [--policy.freeze_language_encoder str] [--policy.train_policy_transformer str] [--policy.train_soft_prompts str] [--policy.optimizer_lr str] [--policy.optimizer_betas str] [--policy.optimizer_eps str] [--policy.optimizer_weight_decay str] [--policy.optimizer_grad_clip_norm str] [--policy.optimizer_soft_prompt_lr_scale str] [--policy.optimizer_soft_prompt_warmup_lr_scale str] [--policy.scheduler_warmup_steps str] [--policy.scheduler_decay_steps str] [--policy.scheduler_decay_lr str] [--policy.dataset_stats str] [--policy.storage_device str] [--policy.vision_encoder_name str] [--policy.freeze_vision_encoder str] [--policy.image_encoder_hidden_dim str] [--policy.shared_encoder str] [--policy.num_discrete_actions str] [--policy.online_steps str] [--policy.online_buffer_capacity str] [--policy.offline_buffer_capacity str] [--policy.async_prefetch str] [--policy.online_step_before_learning str] [--policy.policy_update_freq str] [--policy.discount str] [--policy.temperature_init str] [--policy.num_critics str] [--policy.num_subsample_critics str] [--policy.critic_lr str] [--policy.actor_lr str] [--policy.temperature_lr str] [--policy.critic_target_update_weight str] [--policy.utd_ratio str] [--policy.state_encoder_hidden_dim str] [--policy.target_entropy str] [--policy.use_backup_entropy str] [--critic_network_kwargs str] [--policy.critic_network_kwargs.hidden_dims str] [--policy.critic_network_kwargs.activate_final str] [--policy.critic_network_kwargs.final_activation str] [--actor_network_kwargs str] [--policy.actor_network_kwargs.hidden_dims str] [--policy.actor_network_kwargs.activate_final str] [--policy_kwargs str] [--policy.policy_kwargs.use_tanh_squash str] [--policy.policy_kwargs.std_min str] [--policy.policy_kwargs.std_max str] [--policy.policy_kwargs.init_final str] [--discrete_critic_network_kwargs str] [--policy.discrete_critic_network_kwargs.hidden_dims str] [--policy.discrete_critic_network_kwargs.activate_final str] [--policy.discrete_critic_network_kwargs.final_activation str] [--actor_learner_config str] [--policy.actor_learner_config.learner_host str] [--policy.actor_learner_config.learner_port str] [--policy.actor_learner_config.policy_parameters_push_frequency str] [--policy.actor_learner_config.queue_get_timeout str] [--concurrency str] [--policy.concurrency.actor str] [--policy.concurrency.learner str] [--policy.use_torch_compile str] [--policy.name str] [--policy.num_classes str] [--policy.latent_dim str] [--policy.image_embedding_pooling_dim str] [--policy.dropout_rate str] [--policy.model_name str] [--policy.model_type str] [--policy.num_cameras str] [--policy.learning_rate str] [--policy.weight_decay str] [--policy.grad_clip_norm str] [--policy.n_obs_steps str] [--policy.input_features str] [--policy.output_features str] [--policy.device str] [--policy.use_amp str] [--policy.use_peft str] [--policy.push_to_hub str] [--policy.repo_id str] [--policy.private str] [--policy.tags str] [--policy.license str] [--policy.pretrained_path str] [--policy.annotation_mode str] [--policy.frame_gap str] [--policy.max_rewind_steps str] [--policy.image_dim str] [--policy.text_dim str] [--policy.hidden_dim str] [--policy.num_heads str] [--policy.num_layers str] [--policy.max_state_dim str] [--policy.drop_n_last_frames str] [--policy.batch_size str] [--policy.clip_batch_size str] [--policy.dropout str] [--policy.stage_loss_weight str] [--policy.rewind_probability str] [--policy.language_perturbation_probability str] [--policy.num_sparse_stages str] [--policy.sparse_subtask_names str] [--policy.sparse_temporal_proportions str] [--policy.num_dense_stages str] [--policy.dense_subtask_names str] [--policy.dense_temporal_proportions str] [--policy.pretrained_model_path str] [--policy.image_key str] [--policy.state_key str] [--policy.normalization_mapping str] [--output_dir str] [--job_name str] [--resume str] [--seed str] [--num_workers str] [--batch_size str] [--steps str] [--eval_freq str] [--log_freq str] [--tolerance_s str] [--save_checkpoint str] [--save_freq str] [--use_policy_training_preset str] [--optimizer str] [--optimizer.type {adam,adamw,sgd,xvla-adamw,multi_adam}] [--optimizer.momentum str] [--optimizer.dampening str] [--optimizer.nesterov str] [--optimizer.betas str] [--optimizer.eps str] [--optimizer.soft_prompt_lr_scale str] [--optimizer.soft_prompt_warmup_lr_scale str] [--optimizer.lr str] [--optimizer.weight_decay str] [--optimizer.grad_clip_norm str] [--optimizer.optimizer_groups str] [--scheduler str] [--scheduler.type {diffuser,vqbet,cosine_decay_with_warmup}] [--scheduler.name str] [--scheduler.num_vqvae_training_steps str] [--scheduler.num_cycles str] [--scheduler.num_warmup_steps str] [--scheduler.num_decay_steps str] [--scheduler.peak_lr str] [--scheduler.decay_lr str] [--eval str] [--eval.n_episodes str] [--eval.batch_size str] [--eval.use_async_envs str] [--wandb str] [--wandb.enable str] [--wandb.disable_artifact str] [--wandb.project str] [--wandb.entity str] [--wandb.notes str] [--wandb.run_id str] [--wandb.mode str] [--peft str] [--peft.target_modules str] [--peft.full_training_modules str] [--peft.method_type str] [--peft.init_type str] [--peft.r str] [--use_rabc str] [--rabc_progress_path str] [--rabc_kappa str] [--rabc_epsilon str] [--rabc_head_mode str] [--rename_map str] lerobot_train: error: unrecognized arguments: --dataset.tolerance_s=2.0 usage: lerobot_train [-h] [--config_path str] [--dataset str] [--dataset.repo_id str] [--dataset.root str] [--dataset.episodes str] [--image_transforms str] [--dataset.image_transforms.enable str] [--dataset.image_transforms.max_num_transforms str] [--dataset.image_transforms.random_order str] [--dataset.image_transforms.tfs str] [--dataset.revision str] [--dataset.use_imagenet_stats str] [--dataset.video_backend str] [--dataset.streaming str] [--env str] [--env.type {aloha,pusht,gym_manipulator,libero,metaworld,isaaclab_arena}] [--env.visualization_width str] [--env.visualization_height str] [--robot str] [--env.robot.type str] [--teleop str] [--env.teleop.type str] [--processor str] [--env.processor.control_mode str] [--observation str] [--env.processor.observation.add_joint_velocity_to_observation str] [--env.processor.observation.add_current_to_observation str] [--env.processor.observation.add_ee_pose_to_observation str] [--env.processor.observation.display_cameras str] [--image_preprocessing str] [--env.processor.image_preprocessing.crop_params_dict str] [--env.processor.image_preprocessing.resize_size str] [--gripper str] [--env.processor.gripper.use_gripper str] [--env.processor.gripper.gripper_penalty str] [--reset str] [--env.processor.reset.fixed_reset_joint_positions str] [--env.processor.reset.reset_time_s str] [--env.processor.reset.control_time_s str] [--env.processor.reset.terminate_on_success str] [--inverse_kinematics str] [--env.processor.inverse_kinematics.urdf_path str] [--env.processor.inverse_kinematics.target_frame_name str] [--env.processor.inverse_kinematics.end_effector_bounds str] [--env.processor.inverse_kinematics.end_effector_step_sizes str] [--reward_classifier str] [--env.processor.reward_classifier.pretrained_path str] [--env.processor.reward_classifier.success_threshold str] [--env.processor.reward_classifier.success_reward str] [--env.processor.max_gripper_pos str] [--env.name str] [--env.task_ids str] [--env.camera_name str] [--env.init_states str] [--env.camera_name_mapping str] [--env.observation_height str] [--env.observation_width str] [--env.control_mode str] [--env.obs_type str] [--env.render_mode str] [--env.multitask_eval str] [--env.task str] [--env.fps str] [--env.features str] [--env.features_map str] [--env.max_parallel_tasks str] [--env.disable_env_checker str] [--env.hub_path str] [--env.episode_length str] [--env.num_envs str] [--env.embodiment str] [--env.object str] [--env.mimic str] [--env.teleop_device str] [--env.seed str] [--env.device str] [--env.disable_fabric str] [--env.enable_cameras str] [--env.headless str] [--env.enable_pinocchio str] [--env.environment str] [--env.state_dim str] [--env.action_dim str] [--env.camera_height str] [--env.camera_width str] [--env.video str] [--env.video_length str] [--env.video_interval str] [--env.state_keys str] [--env.camera_keys str] [--env.kwargs str] [--policy str] [--policy.type {act,diffusion,groot,pi0,pi0_fast,pi05,smolvla,tdmpc,vqbet,wall_x,xvla,sac,reward_classifier,sarm}] [--policy.replace_final_stride_with_dilation str] [--policy.pre_norm str] [--policy.dim_model str] [--policy.n_heads str] [--policy.dim_feedforward str] [--policy.feedforward_activation str] [--policy.n_encoder_layers str] [--policy.n_decoder_layers str] [--policy.use_vae str] [--policy.n_vae_encoder_layers str] [--policy.temporal_ensemble_coeff str] [--policy.kl_weight str] [--policy.optimizer_lr_backbone str] [--policy.resize_shape str] [--policy.crop_ratio str] [--policy.use_separate_rgb_encoder_per_camera str] [--policy.down_dims str] [--policy.kernel_size str] [--policy.n_groups str] [--policy.diffusion_step_embed_dim str] [--policy.use_film_scale_modulation str] [--policy.noise_scheduler_type str] [--policy.num_train_timesteps str] [--policy.beta_schedule str] [--policy.beta_start str] [--policy.beta_end str] [--policy.prediction_type str] [--policy.clip_sample str] [--policy.clip_sample_range str] [--policy.do_mask_loss_for_padding str] [--policy.scheduler_name str] [--policy.image_size str] [--policy.base_model_path str] [--policy.tokenizer_assets_repo str] [--policy.embodiment_tag str] [--policy.tune_llm str] [--policy.tune_visual str] [--policy.tune_projector str] [--policy.tune_diffusion_model str] [--policy.lora_rank str] [--policy.lora_alpha str] [--policy.lora_dropout str] [--policy.lora_full_model str] [--policy.warmup_ratio str] [--policy.use_bf16 str] [--policy.video_backend str] [--policy.balance_dataset_weights str] [--policy.balance_trajectory_weights str] [--policy.dataset_paths str] [--policy.output_dir str] [--policy.save_steps str] [--policy.max_steps str] [--policy.dataloader_num_workers str] [--policy.report_to str] [--policy.resume str] [--policy.max_action_tokens str] [--policy.text_tokenizer_name str] [--policy.action_tokenizer_name str] [--policy.temperature str] [--policy.max_decoding_steps str] [--policy.fast_skip_tokens str] [--policy.validate_action_token_prefix str] [--policy.use_kv_cache str] [--policy.paligemma_variant str] [--policy.action_expert_variant str] [--policy.num_inference_steps str] [--policy.time_sampling_beta_alpha str] [--policy.time_sampling_beta_beta str] [--policy.time_sampling_scale str] [--policy.time_sampling_offset str] [--policy.image_resolution str] [--policy.gradient_checkpointing str] [--policy.adapt_to_pi_aloha str] [--policy.use_delta_joint_actions_aloha str] [--policy.num_steps str] [--policy.use_cache str] [--policy.train_expert_only str] [--policy.train_state_proj str] [--policy.vlm_model_name str] [--policy.load_vlm_weights str] [--policy.add_image_special_tokens str] [--policy.attention_mode str] [--policy.prefix_length str] [--policy.num_expert_layers str] [--policy.num_vlm_layers str] [--policy.self_attn_every_n_layers str] [--policy.expert_width_multiplier str] [--policy.min_period str] [--policy.max_period str] [--rtc_config str] [--policy.rtc_config.enabled str] [--policy.rtc_config.prefix_attention_schedule str] [--policy.rtc_config.max_guidance_weight str] [--policy.rtc_config.execution_horizon str] [--policy.rtc_config.debug str] [--policy.rtc_config.debug_maxlen str] [--policy.compile_model str] [--policy.compile_mode str] [--policy.n_action_repeats str] [--policy.horizon str] [--policy.q_ensemble_size str] [--policy.mlp_dim str] [--policy.use_mpc str] [--policy.cem_iterations str] [--policy.max_std str] [--policy.min_std str] [--policy.n_gaussian_samples str] [--policy.n_pi_samples str] [--policy.uncertainty_regularizer_coeff str] [--policy.n_elites str] [--policy.elite_weighting_temperature str] [--policy.gaussian_mean_momentum str] [--policy.max_random_shift_ratio str] [--policy.reward_coeff str] [--policy.expectile_weight str] [--policy.value_coeff str] [--policy.consistency_coeff str] [--policy.advantage_scaling str] [--policy.pi_coeff str] [--policy.temporal_decay_coeff str] [--policy.target_model_momentum str] [--policy.n_action_pred_token str] [--policy.action_chunk_size str] [--policy.vision_backbone str] [--policy.crop_shape str] [--policy.crop_is_random str] [--policy.pretrained_backbone_weights str] [--policy.use_group_norm str] [--policy.spatial_softmax_num_keypoints str] [--policy.n_vqvae_training_steps str] [--policy.vqvae_n_embed str] [--policy.vqvae_embedding_dim str] [--policy.vqvae_enc_hidden_dim str] [--policy.gpt_block_size str] [--policy.gpt_input_dim str] [--policy.gpt_output_dim str] [--policy.gpt_n_layer str] [--policy.gpt_n_head str] [--policy.gpt_hidden_dim str] [--policy.offset_loss_weight str] [--policy.primary_code_loss_weight str] [--policy.secondary_code_loss_weight str] [--policy.bet_softmax_temperature str] [--policy.sequentially_select str] [--policy.optimizer_vqvae_lr str] [--policy.optimizer_vqvae_weight_decay str] [--policy.pretrained_name_or_path str] [--policy.action_tokenizer_path str] [--policy.prediction_mode str] [--policy.attn_implementation str] [--policy.chunk_size str] [--policy.n_action_steps str] [--policy.dtype str] [--policy.florence_config str] [--policy.tokenizer_name str] [--policy.tokenizer_max_length str] [--policy.tokenizer_padding_side str] [--policy.pad_language_to str] [--policy.hidden_size str] [--policy.depth str] [--policy.mlp_ratio str] [--policy.num_domains str] [--policy.len_soft_prompts str] [--policy.dim_time str] [--policy.max_len_seq str] [--policy.use_hetero_proj str] [--policy.action_mode str] [--policy.num_denoising_steps str] [--policy.use_proprio str] [--policy.max_action_dim str] [--policy.domain_feature_key str] [--policy.resize_imgs_with_padding str] [--policy.num_image_views str] [--policy.empty_cameras str] [--policy.freeze_language_encoder str] [--policy.train_policy_transformer str] [--policy.train_soft_prompts str] [--policy.optimizer_lr str] [--policy.optimizer_betas str] [--policy.optimizer_eps str] [--policy.optimizer_weight_decay str] [--policy.optimizer_grad_clip_norm str] [--policy.optimizer_soft_prompt_lr_scale str] [--policy.optimizer_soft_prompt_warmup_lr_scale str] [--policy.scheduler_warmup_steps str] [--policy.scheduler_decay_steps str] [--policy.scheduler_decay_lr str] [--policy.dataset_stats str] [--policy.storage_device str] [--policy.vision_encoder_name str] [--policy.freeze_vision_encoder str] [--policy.image_encoder_hidden_dim str] [--policy.shared_encoder str] [--policy.num_discrete_actions str] [--policy.online_steps str] [--policy.online_buffer_capacity str] [--policy.offline_buffer_capacity str] [--policy.async_prefetch str] [--policy.online_step_before_learning str] [--policy.policy_update_freq str] [--policy.discount str] [--policy.temperature_init str] [--policy.num_critics str] [--policy.num_subsample_critics str] [--policy.critic_lr str] [--policy.actor_lr str] [--policy.temperature_lr str] [--policy.critic_target_update_weight str] [--policy.utd_ratio str] [--policy.state_encoder_hidden_dim str] [--policy.target_entropy str] [--policy.use_backup_entropy str] [--critic_network_kwargs str] [--policy.critic_network_kwargs.hidden_dims str] [--policy.critic_network_kwargs.activate_final str] [--policy.critic_network_kwargs.final_activation str] [--actor_network_kwargs str] [--policy.actor_network_kwargs.hidden_dims str] [--policy.actor_network_kwargs.activate_final str] [--policy_kwargs str] [--policy.policy_kwargs.use_tanh_squash str] [--policy.policy_kwargs.std_min str] [--policy.policy_kwargs.std_max str] [--policy.policy_kwargs.init_final str] [--discrete_critic_network_kwargs str] [--policy.discrete_critic_network_kwargs.hidden_dims str] [--policy.discrete_critic_network_kwargs.activate_final str] [--policy.discrete_critic_network_kwargs.final_activation str] [--actor_learner_config str] [--policy.actor_learner_config.learner_host str] [--policy.actor_learner_config.learner_port str] [--policy.actor_learner_config.policy_parameters_push_frequency str] [--policy.actor_learner_config.queue_get_timeout str] [--concurrency str] [--policy.concurrency.actor str] [--policy.concurrency.learner str] [--policy.use_torch_compile str] [--policy.name str] [--policy.num_classes str] [--policy.latent_dim str] [--policy.image_embedding_pooling_dim str] [--policy.dropout_rate str] [--policy.model_name str] [--policy.model_type str] [--policy.num_cameras str] [--policy.learning_rate str] [--policy.weight_decay str] [--policy.grad_clip_norm str] [--policy.n_obs_steps str] [--policy.input_features str] [--policy.output_features str] [--policy.device str] [--policy.use_amp str] [--policy.use_peft str] [--policy.push_to_hub str] [--policy.repo_id str] [--policy.private str] [--policy.tags str] [--policy.license str] [--policy.pretrained_path str] [--policy.annotation_mode str] [--policy.frame_gap str] [--policy.max_rewind_steps str] [--policy.image_dim str] [--policy.text_dim str] [--policy.hidden_dim str] [--policy.num_heads str] [--policy.num_layers str] [--policy.max_state_dim str] [--policy.drop_n_last_frames str] [--policy.batch_size str] [--policy.clip_batch_size str] [--policy.dropout str] [--policy.stage_loss_weight str] [--policy.rewind_probability str] [--policy.language_perturbation_probability str] [--policy.num_sparse_stages str] [--policy.sparse_subtask_names str] [--policy.sparse_temporal_proportions str] [--policy.num_dense_stages str] [--policy.dense_subtask_names str] [--policy.dense_temporal_proportions str] [--policy.pretrained_model_path str] [--policy.image_key str] [--policy.state_key str] [--policy.normalization_mapping str] [--output_dir str] [--job_name str] [--resume str] [--seed str] [--num_workers str] [--batch_size str] [--steps str] [--eval_freq str] [--log_freq str] [--tolerance_s str] [--save_checkpoint str] [--save_freq str] [--use_policy_training_preset str] [--optimizer str] [--optimizer.type {adam,adamw,sgd,xvla-adamw,multi_adam}] [--optimizer.momentum str] [--optimizer.dampening str] [--optimizer.nesterov str] [--optimizer.betas str] [--optimizer.eps str] [--optimizer.soft_prompt_lr_scale str] [--optimizer.soft_prompt_warmup_lr_scale str] [--optimizer.lr str] [--optimizer.weight_decay str] [--optimizer.grad_clip_norm str] [--optimizer.optimizer_groups str] [--scheduler str] [--scheduler.type {diffuser,vqbet,cosine_decay_with_warmup}] [--scheduler.name str] [--scheduler.num_vqvae_training_steps str] [--scheduler.num_cycles str] [--scheduler.num_warmup_steps str] [--scheduler.num_decay_steps str] [--scheduler.peak_lr str] [--scheduler.decay_lr str] [--eval str] [--eval.n_episodes str] [--eval.batch_size str] [--eval.use_async_envs str] [--wandb str] [--wandb.enable str] [--wandb.disable_artifact str] [--wandb.project str] [--wandb.entity str] [--wandb.notes str] [--wandb.run_id str] [--wandb.mode str] [--peft str] [--peft.target_modules str] [--peft.full_training_modules str] [--peft.method_type str] [--peft.init_type str] [--peft.r str] [--use_rabc str] [--rabc_progress_path str] [--rabc_kappa str] [--rabc_epsilon str] [--rabc_head_mode str] [--rename_map str] lerobot_train: error: unrecognized arguments: --dataset.tolerance_s=2.0 usage: lerobot_train [-h] [--config_path str] [--dataset str] [--dataset.repo_id str] [--dataset.root str] [--dataset.episodes str] [--image_transforms str] [--dataset.image_transforms.enable str] [--dataset.image_transforms.max_num_transforms str] [--dataset.image_transforms.random_order str] [--dataset.image_transforms.tfs str] [--dataset.revision str] [--dataset.use_imagenet_stats str] [--dataset.video_backend str] [--dataset.streaming str] [--env str] [--env.type {aloha,pusht,gym_manipulator,libero,metaworld,isaaclab_arena}] [--env.visualization_width str] [--env.visualization_height str] [--robot str] [--env.robot.type str] [--teleop str] [--env.teleop.type str] [--processor str] [--env.processor.control_mode str] [--observation str] [--env.processor.observation.add_joint_velocity_to_observation str] [--env.processor.observation.add_current_to_observation str] [--env.processor.observation.add_ee_pose_to_observation str] [--env.processor.observation.display_cameras str] [--image_preprocessing str] [--env.processor.image_preprocessing.crop_params_dict str] [--env.processor.image_preprocessing.resize_size str] [--gripper str] [--env.processor.gripper.use_gripper str] [--env.processor.gripper.gripper_penalty str] [--reset str] [--env.processor.reset.fixed_reset_joint_positions str] [--env.processor.reset.reset_time_s str] [--env.processor.reset.control_time_s str] [--env.processor.reset.terminate_on_success str] [--inverse_kinematics str] [--env.processor.inverse_kinematics.urdf_path str] [--env.processor.inverse_kinematics.target_frame_name str] [--env.processor.inverse_kinematics.end_effector_bounds str] [--env.processor.inverse_kinematics.end_effector_step_sizes str] [--reward_classifier str] [--env.processor.reward_classifier.pretrained_path str] [--env.processor.reward_classifier.success_threshold str] [--env.processor.reward_classifier.success_reward str] [--env.processor.max_gripper_pos str] [--env.name str] [--env.task_ids str] [--env.camera_name str] [--env.init_states str] [--env.camera_name_mapping str] [--env.observation_height str] [--env.observation_width str] [--env.control_mode str] [--env.obs_type str] [--env.render_mode str] [--env.multitask_eval str] [--env.task str] [--env.fps str] [--env.features str] [--env.features_map str] [--env.max_parallel_tasks str] [--env.disable_env_checker str] [--env.hub_path str] [--env.episode_length str] [--env.num_envs str] [--env.embodiment str] [--env.object str] [--env.mimic str] [--env.teleop_device str] [--env.seed str] [--env.device str] [--env.disable_fabric str] [--env.enable_cameras str] [--env.headless str] [--env.enable_pinocchio str] [--env.environment str] [--env.state_dim str] [--env.action_dim str] [--env.camera_height str] [--env.camera_width str] [--env.video str] [--env.video_length str] [--env.video_interval str] [--env.state_keys str] [--env.camera_keys str] [--env.kwargs str] [--policy str] [--policy.type {act,diffusion,groot,pi0,pi0_fast,pi05,smolvla,tdmpc,vqbet,wall_x,xvla,sac,reward_classifier,sarm}] [--policy.replace_final_stride_with_dilation str] [--policy.pre_norm str] [--policy.dim_model str] [--policy.n_heads str] [--policy.dim_feedforward str] [--policy.feedforward_activation str] [--policy.n_encoder_layers str] [--policy.n_decoder_layers str] [--policy.use_vae str] [--policy.n_vae_encoder_layers str] [--policy.temporal_ensemble_coeff str] [--policy.kl_weight str] [--policy.optimizer_lr_backbone str] [--policy.resize_shape str] [--policy.crop_ratio str] [--policy.use_separate_rgb_encoder_per_camera str] [--policy.down_dims str] [--policy.kernel_size str] [--policy.n_groups str] [--policy.diffusion_step_embed_dim str] [--policy.use_film_scale_modulation str] [--policy.noise_scheduler_type str] [--policy.num_train_timesteps str] [--policy.beta_schedule str] [--policy.beta_start str] [--policy.beta_end str] [--policy.prediction_type str] [--policy.clip_sample str] [--policy.clip_sample_range str] [--policy.do_mask_loss_for_padding str] [--policy.scheduler_name str] [--policy.image_size str] [--policy.base_model_path str] [--policy.tokenizer_assets_repo str] [--policy.embodiment_tag str] [--policy.tune_llm str] [--policy.tune_visual str] [--policy.tune_projector str] [--policy.tune_diffusion_model str] [--policy.lora_rank str] [--policy.lora_alpha str] [--policy.lora_dropout str] [--policy.lora_full_model str] [--policy.warmup_ratio str] [--policy.use_bf16 str] [--policy.video_backend str] [--policy.balance_dataset_weights str] [--policy.balance_trajectory_weights str] [--policy.dataset_paths str] [--policy.output_dir str] [--policy.save_steps str] [--policy.max_steps str] [--policy.dataloader_num_workers str] [--policy.report_to str] [--policy.resume str] [--policy.max_action_tokens str] [--policy.text_tokenizer_name str] [--policy.action_tokenizer_name str] [--policy.temperature str] [--policy.max_decoding_steps str] [--policy.fast_skip_tokens str] [--policy.validate_action_token_prefix str] [--policy.use_kv_cache str] [--policy.paligemma_variant str] [--policy.action_expert_variant str] [--policy.num_inference_steps str] [--policy.time_sampling_beta_alpha str] [--policy.time_sampling_beta_beta str] [--policy.time_sampling_scale str] [--policy.time_sampling_offset str] [--policy.image_resolution str] [--policy.gradient_checkpointing str] [--policy.adapt_to_pi_aloha str] [--policy.use_delta_joint_actions_aloha str] [--policy.num_steps str] [--policy.use_cache str] [--policy.train_expert_only str] [--policy.train_state_proj str] [--policy.vlm_model_name str] [--policy.load_vlm_weights str] [--policy.add_image_special_tokens str] [--policy.attention_mode str] [--policy.prefix_length str] [--policy.num_expert_layers str] [--policy.num_vlm_layers str] [--policy.self_attn_every_n_layers str] [--policy.expert_width_multiplier str] [--policy.min_period str] [--policy.max_period str] [--rtc_config str] [--policy.rtc_config.enabled str] [--policy.rtc_config.prefix_attention_schedule str] [--policy.rtc_config.max_guidance_weight str] [--policy.rtc_config.execution_horizon str] [--policy.rtc_config.debug str] [--policy.rtc_config.debug_maxlen str] [--policy.compile_model str] [--policy.compile_mode str] [--policy.n_action_repeats str] [--policy.horizon str] [--policy.q_ensemble_size str] [--policy.mlp_dim str] [--policy.use_mpc str] [--policy.cem_iterations str] [--policy.max_std str] [--policy.min_std str] [--policy.n_gaussian_samples str] [--policy.n_pi_samples str] [--policy.uncertainty_regularizer_coeff str] [--policy.n_elites str] [--policy.elite_weighting_temperature str] [--policy.gaussian_mean_momentum str] [--policy.max_random_shift_ratio str] [--policy.reward_coeff str] [--policy.expectile_weight str] [--policy.value_coeff str] [--policy.consistency_coeff str] [--policy.advantage_scaling str] [--policy.pi_coeff str] [--policy.temporal_decay_coeff str] [--policy.target_model_momentum str] [--policy.n_action_pred_token str] [--policy.action_chunk_size str] [--policy.vision_backbone str] [--policy.crop_shape str] [--policy.crop_is_random str] [--policy.pretrained_backbone_weights str] [--policy.use_group_norm str] [--policy.spatial_softmax_num_keypoints str] [--policy.n_vqvae_training_steps str] [--policy.vqvae_n_embed str] [--policy.vqvae_embedding_dim str] [--policy.vqvae_enc_hidden_dim str] [--policy.gpt_block_size str] [--policy.gpt_input_dim str] [--policy.gpt_output_dim str] [--policy.gpt_n_layer str] [--policy.gpt_n_head str] [--policy.gpt_hidden_dim str] [--policy.offset_loss_weight str] [--policy.primary_code_loss_weight str] [--policy.secondary_code_loss_weight str] [--policy.bet_softmax_temperature str] [--policy.sequentially_select str] [--policy.optimizer_vqvae_lr str] [--policy.optimizer_vqvae_weight_decay str] [--policy.pretrained_name_or_path str] [--policy.action_tokenizer_path str] [--policy.prediction_mode str] [--policy.attn_implementation str] [--policy.chunk_size str] [--policy.n_action_steps str] [--policy.dtype str] [--policy.florence_config str] [--policy.tokenizer_name str] [--policy.tokenizer_max_length str] [--policy.tokenizer_padding_side str] [--policy.pad_language_to str] [--policy.hidden_size str] [--policy.depth str] [--policy.mlp_ratio str] [--policy.num_domains str] [--policy.len_soft_prompts str] [--policy.dim_time str] [--policy.max_len_seq str] [--policy.use_hetero_proj str] [--policy.action_mode str] [--policy.num_denoising_steps str] [--policy.use_proprio str] [--policy.max_action_dim str] [--policy.domain_feature_key str] [--policy.resize_imgs_with_padding str] [--policy.num_image_views str] [--policy.empty_cameras str] [--policy.freeze_language_encoder str] [--policy.train_policy_transformer str] [--policy.train_soft_prompts str] [--policy.optimizer_lr str] [--policy.optimizer_betas str] [--policy.optimizer_eps str] [--policy.optimizer_weight_decay str] [--policy.optimizer_grad_clip_norm str] [--policy.optimizer_soft_prompt_lr_scale str] [--policy.optimizer_soft_prompt_warmup_lr_scale str] [--policy.scheduler_warmup_steps str] [--policy.scheduler_decay_steps str] [--policy.scheduler_decay_lr str] [--policy.dataset_stats str] [--policy.storage_device str] [--policy.vision_encoder_name str] [--policy.freeze_vision_encoder str] [--policy.image_encoder_hidden_dim str] [--policy.shared_encoder str] [--policy.num_discrete_actions str] [--policy.online_steps str] [--policy.online_buffer_capacity str] [--policy.offline_buffer_capacity str] [--policy.async_prefetch str] [--policy.online_step_before_learning str] [--policy.policy_update_freq str] [--policy.discount str] [--policy.temperature_init str] [--policy.num_critics str] [--policy.num_subsample_critics str] [--policy.critic_lr str] [--policy.actor_lr str] [--policy.temperature_lr str] [--policy.critic_target_update_weight str] [--policy.utd_ratio str] [--policy.state_encoder_hidden_dim str] [--policy.target_entropy str] [--policy.use_backup_entropy str] [--critic_network_kwargs str] [--policy.critic_network_kwargs.hidden_dims str] [--policy.critic_network_kwargs.activate_final str] [--policy.critic_network_kwargs.final_activation str] [--actor_network_kwargs str] [--policy.actor_network_kwargs.hidden_dims str] [--policy.actor_network_kwargs.activate_final str] [--policy_kwargs str] [--policy.policy_kwargs.use_tanh_squash str] [--policy.policy_kwargs.std_min str] [--policy.policy_kwargs.std_max str] [--policy.policy_kwargs.init_final str] [--discrete_critic_network_kwargs str] [--policy.discrete_critic_network_kwargs.hidden_dims str] [--policy.discrete_critic_network_kwargs.activate_final str] [--policy.discrete_critic_network_kwargs.final_activation str] [--actor_learner_config str] [--policy.actor_learner_config.learner_host str] [--policy.actor_learner_config.learner_port str] [--policy.actor_learner_config.policy_parameters_push_frequency str] [--policy.actor_learner_config.queue_get_timeout str] [--concurrency str] [--policy.concurrency.actor str] [--policy.concurrency.learner str] [--policy.use_torch_compile str] [--policy.name str] [--policy.num_classes str] [--policy.latent_dim str] [--policy.image_embedding_pooling_dim str] [--policy.dropout_rate str] [--policy.model_name str] [--policy.model_type str] [--policy.num_cameras str] [--policy.learning_rate str] [--policy.weight_decay str] [--policy.grad_clip_norm str] [--policy.n_obs_steps str] [--policy.input_features str] [--policy.output_features str] [--policy.device str] [--policy.use_amp str] [--policy.use_peft str] [--policy.push_to_hub str] [--policy.repo_id str] [--policy.private str] [--policy.tags str] [--policy.license str] [--policy.pretrained_path str] [--policy.annotation_mode str] [--policy.frame_gap str] [--policy.max_rewind_steps str] [--policy.image_dim str] [--policy.text_dim str] [--policy.hidden_dim str] [--policy.num_heads str] [--policy.num_layers str] [--policy.max_state_dim str] [--policy.drop_n_last_frames str] [--policy.batch_size str] [--policy.clip_batch_size str] [--policy.dropout str] [--policy.stage_loss_weight str] [--policy.rewind_probability str] [--policy.language_perturbation_probability str] [--policy.num_sparse_stages str] [--policy.sparse_subtask_names str] [--policy.sparse_temporal_proportions str] [--policy.num_dense_stages str] [--policy.dense_subtask_names str] [--policy.dense_temporal_proportions str] [--policy.pretrained_model_path str] [--policy.image_key str] [--policy.state_key str] [--policy.normalization_mapping str] [--output_dir str] [--job_name str] [--resume str] [--seed str] [--num_workers str] [--batch_size str] [--steps str] [--eval_freq str] [--log_freq str] [--tolerance_s str] [--save_checkpoint str] [--save_freq str] [--use_policy_training_preset str] [--optimizer str] [--optimizer.type {adam,adamw,sgd,xvla-adamw,multi_adam}] [--optimizer.momentum str] [--optimizer.dampening str] [--optimizer.nesterov str] [--optimizer.betas str] [--optimizer.eps str] [--optimizer.soft_prompt_lr_scale str] [--optimizer.soft_prompt_warmup_lr_scale str] [--optimizer.lr str] [--optimizer.weight_decay str] [--optimizer.grad_clip_norm str] [--optimizer.optimizer_groups str] [--scheduler str] [--scheduler.type {diffuser,vqbet,cosine_decay_with_warmup}] [--scheduler.name str] [--scheduler.num_vqvae_training_steps str] [--scheduler.num_cycles str] [--scheduler.num_warmup_steps str] [--scheduler.num_decay_steps str] [--scheduler.peak_lr str] [--scheduler.decay_lr str] [--eval str] [--eval.n_episodes str] [--eval.batch_size str] [--eval.use_async_envs str] [--wandb str] [--wandb.enable str] [--wandb.disable_artifact str] [--wandb.project str] [--wandb.entity str] [--wandb.notes str] [--wandb.run_id str] [--wandb.mode str] [--peft str] [--peft.target_modules str] [--peft.full_training_modules str] [--peft.method_type str] [--peft.init_type str] [--peft.r str] [--use_rabc str] [--rabc_progress_path str] [--rabc_kappa str] [--rabc_epsilon str] [--rabc_head_mode str] [--rename_map str] lerobot_train: error: unrecognized arguments: --dataset.tolerance_s=2.0 usage: lerobot_train [-h] [--config_path str] [--dataset str] [--dataset.repo_id str] [--dataset.root str] [--dataset.episodes str] [--image_transforms str] [--dataset.image_transforms.enable str] [--dataset.image_transforms.max_num_transforms str] [--dataset.image_transforms.random_order str] [--dataset.image_transforms.tfs str] [--dataset.revision str] [--dataset.use_imagenet_stats str] [--dataset.video_backend str] [--dataset.streaming str] [--env str] [--env.type {aloha,pusht,gym_manipulator,libero,metaworld,isaaclab_arena}] [--env.visualization_width str] [--env.visualization_height str] [--robot str] [--env.robot.type str] [--teleop str] [--env.teleop.type str] [--processor str] [--env.processor.control_mode str] [--observation str] [--env.processor.observation.add_joint_velocity_to_observation str] [--env.processor.observation.add_current_to_observation str] [--env.processor.observation.add_ee_pose_to_observation str] [--env.processor.observation.display_cameras str] [--image_preprocessing str] [--env.processor.image_preprocessing.crop_params_dict str] [--env.processor.image_preprocessing.resize_size str] [--gripper str] [--env.processor.gripper.use_gripper str] [--env.processor.gripper.gripper_penalty str] [--reset str] [--env.processor.reset.fixed_reset_joint_positions str] [--env.processor.reset.reset_time_s str] [--env.processor.reset.control_time_s str] [--env.processor.reset.terminate_on_success str] [--inverse_kinematics str] [--env.processor.inverse_kinematics.urdf_path str] [--env.processor.inverse_kinematics.target_frame_name str] [--env.processor.inverse_kinematics.end_effector_bounds str] [--env.processor.inverse_kinematics.end_effector_step_sizes str] [--reward_classifier str] [--env.processor.reward_classifier.pretrained_path str] [--env.processor.reward_classifier.success_threshold str] [--env.processor.reward_classifier.success_reward str] [--env.processor.max_gripper_pos str] [--env.name str] [--env.task_ids str] [--env.camera_name str] [--env.init_states str] [--env.camera_name_mapping str] [--env.observation_height str] [--env.observation_width str] [--env.control_mode str] [--env.obs_type str] [--env.render_mode str] [--env.multitask_eval str] [--env.task str] [--env.fps str] [--env.features str] [--env.features_map str] [--env.max_parallel_tasks str] [--env.disable_env_checker str] [--env.hub_path str] [--env.episode_length str] [--env.num_envs str] [--env.embodiment str] [--env.object str] [--env.mimic str] [--env.teleop_device str] [--env.seed str] [--env.device str] [--env.disable_fabric str] [--env.enable_cameras str] [--env.headless str] [--env.enable_pinocchio str] [--env.environment str] [--env.state_dim str] [--env.action_dim str] [--env.camera_height str] [--env.camera_width str] [--env.video str] [--env.video_length str] [--env.video_interval str] [--env.state_keys str] [--env.camera_keys str] [--env.kwargs str] [--policy str] [--policy.type {act,diffusion,groot,pi0,pi0_fast,pi05,smolvla,tdmpc,vqbet,wall_x,xvla,sac,reward_classifier,sarm}] [--policy.replace_final_stride_with_dilation str] [--policy.pre_norm str] [--policy.dim_model str] [--policy.n_heads str] [--policy.dim_feedforward str] [--policy.feedforward_activation str] [--policy.n_encoder_layers str] [--policy.n_decoder_layers str] [--policy.use_vae str] [--policy.n_vae_encoder_layers str] [--policy.temporal_ensemble_coeff str] [--policy.kl_weight str] [--policy.optimizer_lr_backbone str] [--policy.resize_shape str] [--policy.crop_ratio str] [--policy.use_separate_rgb_encoder_per_camera str] [--policy.down_dims str] [--policy.kernel_size str] [--policy.n_groups str] [--policy.diffusion_step_embed_dim str] [--policy.use_film_scale_modulation str] [--policy.noise_scheduler_type str] [--policy.num_train_timesteps str] [--policy.beta_schedule str] [--policy.beta_start str] [--policy.beta_end str] [--policy.prediction_type str] [--policy.clip_sample str] [--policy.clip_sample_range str] [--policy.do_mask_loss_for_padding str] [--policy.scheduler_name str] [--policy.image_size str] [--policy.base_model_path str] [--policy.tokenizer_assets_repo str] [--policy.embodiment_tag str] [--policy.tune_llm str] [--policy.tune_visual str] [--policy.tune_projector str] [--policy.tune_diffusion_model str] [--policy.lora_rank str] [--policy.lora_alpha str] [--policy.lora_dropout str] [--policy.lora_full_model str] [--policy.warmup_ratio str] [--policy.use_bf16 str] [--policy.video_backend str] [--policy.balance_dataset_weights str] [--policy.balance_trajectory_weights str] [--policy.dataset_paths str] [--policy.output_dir str] [--policy.save_steps str] [--policy.max_steps str] [--policy.dataloader_num_workers str] [--policy.report_to str] [--policy.resume str] [--policy.max_action_tokens str] [--policy.text_tokenizer_name str] [--policy.action_tokenizer_name str] [--policy.temperature str] [--policy.max_decoding_steps str] [--policy.fast_skip_tokens str] [--policy.validate_action_token_prefix str] [--policy.use_kv_cache str] [--policy.paligemma_variant str] [--policy.action_expert_variant str] [--policy.num_inference_steps str] [--policy.time_sampling_beta_alpha str] [--policy.time_sampling_beta_beta str] [--policy.time_sampling_scale str] [--policy.time_sampling_offset str] [--policy.image_resolution str] [--policy.gradient_checkpointing str] [--policy.adapt_to_pi_aloha str] [--policy.use_delta_joint_actions_aloha str] [--policy.num_steps str] [--policy.use_cache str] [--policy.train_expert_only str] [--policy.train_state_proj str] [--policy.vlm_model_name str] [--policy.load_vlm_weights str] [--policy.add_image_special_tokens str] [--policy.attention_mode str] [--policy.prefix_length str] [--policy.num_expert_layers str] [--policy.num_vlm_layers str] [--policy.self_attn_every_n_layers str] [--policy.expert_width_multiplier str] [--policy.min_period str] [--policy.max_period str] [--rtc_config str] [--policy.rtc_config.enabled str] [--policy.rtc_config.prefix_attention_schedule str] [--policy.rtc_config.max_guidance_weight str] [--policy.rtc_config.execution_horizon str] [--policy.rtc_config.debug str] [--policy.rtc_config.debug_maxlen str] [--policy.compile_model str] [--policy.compile_mode str] [--policy.n_action_repeats str] [--policy.horizon str] [--policy.q_ensemble_size str] [--policy.mlp_dim str] [--policy.use_mpc str] [--policy.cem_iterations str] [--policy.max_std str] [--policy.min_std str] [--policy.n_gaussian_samples str] [--policy.n_pi_samples str] [--policy.uncertainty_regularizer_coeff str] [--policy.n_elites str] [--policy.elite_weighting_temperature str] [--policy.gaussian_mean_momentum str] [--policy.max_random_shift_ratio str] [--policy.reward_coeff str] [--policy.expectile_weight str] [--policy.value_coeff str] [--policy.consistency_coeff str] [--policy.advantage_scaling str] [--policy.pi_coeff str] [--policy.temporal_decay_coeff str] [--policy.target_model_momentum str] [--policy.n_action_pred_token str] [--policy.action_chunk_size str] [--policy.vision_backbone str] [--policy.crop_shape str] [--policy.crop_is_random str] [--policy.pretrained_backbone_weights str] [--policy.use_group_norm str] [--policy.spatial_softmax_num_keypoints str] [--policy.n_vqvae_training_steps str] [--policy.vqvae_n_embed str] [--policy.vqvae_embedding_dim str] [--policy.vqvae_enc_hidden_dim str] [--policy.gpt_block_size str] [--policy.gpt_input_dim str] [--policy.gpt_output_dim str] [--policy.gpt_n_layer str] [--policy.gpt_n_head str] [--policy.gpt_hidden_dim str] [--policy.offset_loss_weight str] [--policy.primary_code_loss_weight str] [--policy.secondary_code_loss_weight str] [--policy.bet_softmax_temperature str] [--policy.sequentially_select str] [--policy.optimizer_vqvae_lr str] [--policy.optimizer_vqvae_weight_decay str] [--policy.pretrained_name_or_path str] [--policy.action_tokenizer_path str] [--policy.prediction_mode str] [--policy.attn_implementation str] [--policy.chunk_size str] [--policy.n_action_steps str] [--policy.dtype str] [--policy.florence_config str] [--policy.tokenizer_name str] [--policy.tokenizer_max_length str] [--policy.tokenizer_padding_side str] [--policy.pad_language_to str] [--policy.hidden_size str] [--policy.depth str] [--policy.mlp_ratio str] [--policy.num_domains str] [--policy.len_soft_prompts str] [--policy.dim_time str] [--policy.max_len_seq str] [--policy.use_hetero_proj str] [--policy.action_mode str] [--policy.num_denoising_steps str] [--policy.use_proprio str] [--policy.max_action_dim str] [--policy.domain_feature_key str] [--policy.resize_imgs_with_padding str] [--policy.num_image_views str] [--policy.empty_cameras str] [--policy.freeze_language_encoder str] [--policy.train_policy_transformer str] [--policy.train_soft_prompts str] [--policy.optimizer_lr str] [--policy.optimizer_betas str] [--policy.optimizer_eps str] [--policy.optimizer_weight_decay str] [--policy.optimizer_grad_clip_norm str] [--policy.optimizer_soft_prompt_lr_scale str] [--policy.optimizer_soft_prompt_warmup_lr_scale str] [--policy.scheduler_warmup_steps str] [--policy.scheduler_decay_steps str] [--policy.scheduler_decay_lr str] [--policy.dataset_stats str] [--policy.storage_device str] [--policy.vision_encoder_name str] [--policy.freeze_vision_encoder str] [--policy.image_encoder_hidden_dim str] [--policy.shared_encoder str] [--policy.num_discrete_actions str] [--policy.online_steps str] [--policy.online_buffer_capacity str] [--policy.offline_buffer_capacity str] [--policy.async_prefetch str] [--policy.online_step_before_learning str] [--policy.policy_update_freq str] [--policy.discount str] [--policy.temperature_init str] [--policy.num_critics str] [--policy.num_subsample_critics str] [--policy.critic_lr str] [--policy.actor_lr str] [--policy.temperature_lr str] [--policy.critic_target_update_weight str] [--policy.utd_ratio str] [--policy.state_encoder_hidden_dim str] [--policy.target_entropy str] [--policy.use_backup_entropy str] [--critic_network_kwargs str] [--policy.critic_network_kwargs.hidden_dims str] [--policy.critic_network_kwargs.activate_final str] [--policy.critic_network_kwargs.final_activation str] [--actor_network_kwargs str] [--policy.actor_network_kwargs.hidden_dims str] [--policy.actor_network_kwargs.activate_final str] [--policy_kwargs str] [--policy.policy_kwargs.use_tanh_squash str] [--policy.policy_kwargs.std_min str] [--policy.policy_kwargs.std_max str] [--policy.policy_kwargs.init_final str] [--discrete_critic_network_kwargs str] [--policy.discrete_critic_network_kwargs.hidden_dims str] [--policy.discrete_critic_network_kwargs.activate_final str] [--policy.discrete_critic_network_kwargs.final_activation str] [--actor_learner_config str] [--policy.actor_learner_config.learner_host str] [--policy.actor_learner_config.learner_port str] [--policy.actor_learner_config.policy_parameters_push_frequency str] [--policy.actor_learner_config.queue_get_timeout str] [--concurrency str] [--policy.concurrency.actor str] [--policy.concurrency.learner str] [--policy.use_torch_compile str] [--policy.name str] [--policy.num_classes str] [--policy.latent_dim str] [--policy.image_embedding_pooling_dim str] [--policy.dropout_rate str] [--policy.model_name str] [--policy.model_type str] [--policy.num_cameras str] [--policy.learning_rate str] [--policy.weight_decay str] [--policy.grad_clip_norm str] [--policy.n_obs_steps str] [--policy.input_features str] [--policy.output_features str] [--policy.device str] [--policy.use_amp str] [--policy.use_peft str] [--policy.push_to_hub str] [--policy.repo_id str] [--policy.private str] [--policy.tags str] [--policy.license str] [--policy.pretrained_path str] [--policy.annotation_mode str] [--policy.frame_gap str] [--policy.max_rewind_steps str] [--policy.image_dim str] [--policy.text_dim str] [--policy.hidden_dim str] [--policy.num_heads str] [--policy.num_layers str] [--policy.max_state_dim str] [--policy.drop_n_last_frames str] [--policy.batch_size str] [--policy.clip_batch_size str] [--policy.dropout str] [--policy.stage_loss_weight str] [--policy.rewind_probability str] [--policy.language_perturbation_probability str] [--policy.num_sparse_stages str] [--policy.sparse_subtask_names str] [--policy.sparse_temporal_proportions str] [--policy.num_dense_stages str] [--policy.dense_subtask_names str] [--policy.dense_temporal_proportions str] [--policy.pretrained_model_path str] [--policy.image_key str] [--policy.state_key str] [--policy.normalization_mapping str] [--output_dir str] [--job_name str] [--resume str] [--seed str] [--num_workers str] [--batch_size str] [--steps str] [--eval_freq str] [--log_freq str] [--tolerance_s str] [--save_checkpoint str] [--save_freq str] [--use_policy_training_preset str] [--optimizer str] [--optimizer.type {adam,adamw,sgd,xvla-adamw,multi_adam}] [--optimizer.momentum str] [--optimizer.dampening str] [--optimizer.nesterov str] [--optimizer.betas str] [--optimizer.eps str] [--optimizer.soft_prompt_lr_scale str] [--optimizer.soft_prompt_warmup_lr_scale str] [--optimizer.lr str] [--optimizer.weight_decay str] [--optimizer.grad_clip_norm str] [--optimizer.optimizer_groups str] [--scheduler str] [--scheduler.type {diffuser,vqbet,cosine_decay_with_warmup}] [--scheduler.name str] [--scheduler.num_vqvae_training_steps str] [--scheduler.num_cycles str] [--scheduler.num_warmup_steps str] [--scheduler.num_decay_steps str] [--scheduler.peak_lr str] [--scheduler.decay_lr str] [--eval str] [--eval.n_episodes str] [--eval.batch_size str] [--eval.use_async_envs str] [--wandb str] [--wandb.enable str] [--wandb.disable_artifact str] [--wandb.project str] [--wandb.entity str] [--wandb.notes str] [--wandb.run_id str] [--wandb.mode str] [--peft str] [--peft.target_modules str] [--peft.full_training_modules str] [--peft.method_type str] [--peft.init_type str] [--peft.r str] [--use_rabc str] [--rabc_progress_path str] [--rabc_kappa str] [--rabc_epsilon str] [--rabc_head_mode str] [--rename_map str] lerobot_train: error: unrecognized arguments: --dataset.tolerance_s=2.0 W0311 06:29:30.162000 2412 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2480 closing signal SIGTERM W0311 06:29:30.163000 2412 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2482 closing signal SIGTERM W0311 06:29:30.163000 2412 torch/distributed/elastic/multiprocessing/api.py:900] Sending process 2483 closing signal SIGTERM E0311 06:29:30.234000 2412 torch/distributed/elastic/multiprocessing/api.py:874] failed (exitcode: 2) local_rank: 1 (pid: 2481) of binary: /usr/bin/python Traceback (most recent call last): File "/usr/local/bin/accelerate", line 8, in sys.exit(main()) ^^^^^^ File "/usr/local/lib/python3.11/dist-packages/accelerate/commands/accelerate_cli.py", line 50, in main args.func(args) File "/usr/local/lib/python3.11/dist-packages/accelerate/commands/launch.py", line 1396, in launch_command multi_gpu_launcher(args) File "/usr/local/lib/python3.11/dist-packages/accelerate/commands/launch.py", line 1023, in multi_gpu_launcher distrib_run.run(args) File "/usr/local/lib/python3.11/dist-packages/torch/distributed/run.py", line 883, in run elastic_launch( File "/usr/local/lib/python3.11/dist-packages/torch/distributed/launcher/api.py", line 139, in __call__ return launch_agent(self._config, self._entrypoint, list(args)) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "/usr/local/lib/python3.11/dist-packages/torch/distributed/launcher/api.py", line 270, in launch_agent raise ChildFailedError( torch.distributed.elastic.multiprocessing.errors.ChildFailedError: ============================================================ /tmp/train_pi0fast.py FAILED ------------------------------------------------------------ Failures: ------------------------------------------------------------ Root Cause (first observed failure): [0]: time : 2026-03-11_06:29:30 host : 793c3c5b0065 rank : 1 (local_rank: 1) exitcode : 2 (pid: 2481) error_file: traceback : To enable traceback see: https://pytorch.org/docs/stable/elastic/errors.html ============================================================ >>> Training finished with exit code 1 Ended: 2026-03-11 06:29:30 UTC >>> Saving training log to HuggingFace...